Nonlinear Control

Lecture # 3
Two-Dimensional Systems

Nonlinear Control Lecture # 3 Two-Dimensional Systems

Multiple Equilibria
Example 2.2: Tunnel-diode circuit

iL
X
X



R
E

P
P



P
P
P



P
P
P



P
P


L


+ vL

s
CC

i,mA

iC

CC

iR

vC C

vR

1
i=h(v)
0.5

0.5

(a)

0.5
(b)

x1 = vC , x2 = iL
Nonlinear Control Lecture # 3 Two-Dimensional Systems

1 v,V

x 1 = 0.5[h(x1 ) + x2 ]
x 2 = 0.2(x1 1.5x2 + 1.2)
h(x1 ) = 17.76x1 103.79x21 + 229.62x31 226.31x41 + 83.72x51
i

R
1.2
1
0.8
0.6

Q
1

Q1 = (0.063, 0.758)
Q2 = (0.285, 0.61)
Q3 = (0.884, 0.21)

Q
2

0.4
Q
3

0.2
0
0

0.5

Nonlinear Control Lecture # 3 Two-Dimensional Systems

f
=
x


3.598
A1 =
0.2

1.82
A2 =
0.2

1.427
A3 =
0.2

0.5h (x1 ) 0.5

0.2
0.3


0.5
,
0.3

0.5
,
0.3

0.5
,
0.3

Eigenvalues : 3.57, 0.33

Eigenvalues : 1.77, 0.25
Eigenvalues : 1.33, 0.4

Q1 is a stable node; Q2 is a saddle; Q3 is a stable node

Nonlinear Control Lecture # 3 Two-Dimensional Systems

1.6
1.4
1.2
1
0.8

Q
1

Q
2

0.6
0.4
0.2

Q
3

0
x
0.2
0.4
0.4

0.2

0.2

0.4

Nonlinear Control Lecture # 3 Two-Dimensional Systems

0.6

0.8

1.2

1.4

1.6

Example 2.3: Pendulum

x 1 = x2 ,

x 2 = sin x1 0.3x2

Equilibrium points at (n, 0) for n = 0, 1, 2, . . .





f
x2
0
1
,
f (x) =
=
sin x1 0.3x2
cos x1 0.3
x

Nonlinear Control Lecture # 3 Two-Dimensional Systems

f
=
x

0
1
cos x1 0.3

Linearization at (0, 0) and (, 0):



0
1
; Eigenvalues : 0.15 j0.9887
A1 =
1 0.3


0
1
;
Eigenvalues : 1.1612, 0.8612
A2 =
1 0.3
(0, 0) is a stable focus and (, 0) is a saddle

Nonlinear Control Lecture # 3 Two-Dimensional Systems

x2
3

x1

Nonlinear Control Lecture # 3 Two-Dimensional Systems

Oscillation
A system oscillates when it has a nontrivial periodic solution
x(t + T ) = x(t), t 0
Linear (Harmonic) Oscillator:


0
z
z =
0
z1 (t) = r0 cos(t + 0 ),
q
r0 = z12 (0) + z22 (0),
Nonlinear Control Lecture # 3 Two-Dimensional Systems

z2 (t) = r0 sin(t + 0 )


1 z2 (0)
0 = tan
z1 (0)

The linear oscillation is not practical because

It is not structurally stable. Infinitesimally small
perturbations may change the type of the equilibrium
point to a stable focus (decaying oscillation) or unstable
focus (growing oscillation)
The amplitude of oscillation depends on the initial
conditions
(The same problems exist with oscillation of nonlinear
systems due to a center equilibrium point, e.g., pendulum
without friction)

Nonlinear Control Lecture # 3 Two-Dimensional Systems

Limit Cycles
Example: Negative Resistance Oscillator
i

iC

i = h(v)

Resistive
Element

iL

(a)

Nonlinear Control Lecture # 3 Two-Dimensional Systems

(b)

x 1 = x2
x 2 = x1 h (x1 )x2
There is a unique equilibrium point at the origin


0
1
f 

A=
=
x x=0

1 h (0)
2 + h (0) + 1 = 0
h (0) < 0 Unstable Focus or Unstable Node

Nonlinear Control Lecture # 3 Two-Dimensional Systems

Energy Analysis:
E = 12 CvC2 + 12 Li2L
vC = x1

1
and iL = h(x1 ) x2

E = 12 C{x21 + [h(x1 ) + x2 ]2 }
E =
=
=
=

C{x1 x 1 + [h(x1 ) + x2 ][h (x1 )x 1 + x 2 ]}

C{x1 x2 + [h(x1 ) + x2 ][h (x1 )x2 x1 h (x1 )x2 ]}
C[x1 x2 x1 h(x1 ) x1 x2 ]
Cx1 h(x1 )

Nonlinear Control Lecture # 3 Two-Dimensional Systems

E = Cx1 h(x1 )

Nonlinear Control Lecture # 3 Two-Dimensional Systems

Example 2.4: Van der Pol Oscillator

x 1 = x2
x 2 = x1 + (1 x21 )x2
4

x2

x
1

2
2

(a)

= 0.2
Nonlinear Control Lecture # 3 Two-Dimensional Systems

2
(b)

=1

1
z2

= (z1 z2 + 31 z23 )

z1 =
z2

3
x

10

0
z

0
x

5
5

10

(a)

=5
Nonlinear Control Lecture # 3 Two-Dimensional Systems

0
(b)

x
1

(a)

Stable Limit Cycle

Nonlinear Control Lecture # 3 Two-Dimensional Systems

(b)

Unstable Limit Cycle